Energy collection and charging system and method for UAV high-voltage transmission line in the air

Abstract

The present invention discloses an energy collection and charging system and method for a high-voltage transmission line near a drone, including a multi-layer copper-clad energy collection electrode plate for wirelessly picking up the induced electromotive force and displacement current of a high-voltage electric field; a shingled capacitor array for carrying out single-bin voltage division and energy storage, group-bin current collection and discharge, releasing electricity to a supercapacitor one by one, and enhancing the displacement current induced by the high-voltage electric field to an energy storage current; a group-bin energy release power supply module for receiving PWM duty cycle information from an MCU module, coordinating the group-bin controlled energy release, adapting to changes in charging loads and peak currents, and maintaining a stable energy storage current; a supercapacitor for providing an intermediate energy storage carrier for unstable group-bin confluence; a DC-DC switch circuit for providing stable output power for system charging; and an MCU module for carrying out PID solution PWM, adaptively coordinating the group-bin controlled energy release, and controlling the flight control power motor to fly safely. The present invention can realize wireless adaptive energy collection and charging for drones near the air.

Description

Technical Field

[0001] The present invention relates to the technical field of energy acquisition and charging of unmanned aerial vehicles, and in particular to an energy acquisition and charging system and method for unmanned aerial vehicle high-voltage transmission lines. Background Art

[0002] High-voltage transmission line inspection drones play an important role in the maintenance and monitoring of power systems. Existing high-voltage transmission line inspection drones lack charging facilities when patrolling in the field, and need to frequently return to the drone mother vehicle for wired charging. The round trip is time-consuming and the frequent charging and recharging reduce the efficiency of line patrol operations and make manual operations cumbersome, which cannot meet the needs of rapid engineering inspections and continuous monitoring operations.

[0003] Therefore, it is urgent to solve the above problems. Summary of the invention

[0004] Purpose of the invention: The first purpose of the present invention is to provide an energy collection and charging system for UAVs near high-voltage power transmission lines in the air, which can realize wireless adaptive energy collection and charging for UAVs near the air.

[0005] The second object of the present invention is to provide an energy collection and charging method for an energy collection and charging system of an unmanned aerial vehicle near an aerial high-voltage power transmission line.

[0006] Technical solution: To achieve the above objectives, the present invention discloses an energy collection and charging system for a UAV high-voltage transmission line in the air, comprising:

[0007] Multi-layer copper-clad energy harvesting plate, used to wirelessly pick up the high-voltage electric field induced electromotive force E and displacement current I from the airspace electric field near the high-voltage transmission line n (t);

[0008] The shingled capacitor array is composed of capacitors {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} connected in parallel to form n single cells, and connected in series to controllable switches {S1-1, S1-2}, {S2-1, S2-2}, ..., {SN-1, SN-2} in sequence to form a group cell energy array; it is used to carry out single cell voltage division power storage, group cell current collection discharge release energy, and release electricity to the super capacitor one by one, so as to convert the high voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t), enhance the induced current intensity of available electric energy in airspace;

[0009] The group storage energy release power supply module is composed of controllable MOS tubes {Q1, Q2, ..., QN} and triodes {Q'1, Q'2, ..., Q'N}. The MOS tube {Q1, Q2, ..., QN} array is used to receive the dynamic pulse width modulation PWM duty cycle information of the MCU module, coordinate the group storage controlled energy release, adapt to the changes of charging load and peak current, and maintain the energy storage current I 超级 (t) Stable; the transistor array {Q'1, Q'2, ..., Q'N} is connected in parallel with the shingled capacitor array one by one, and as the energy storage voltage of any single cell {Ci-1, Ci-2, ..., Ci-i} in the capacitor array {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} reaches the threshold voltage U 阈值 When , the corresponding transistor {Q'i} is turned on, the controllable switch {Si-1, Si-2} is synchronously actuated, and the single bin {Ci-1, Ci-2, ..., Ci-i} is separated from the capacitor series energy array and connected in parallel to the group bin to release the electric energy sequence, receiving the dynamic pulse width modulation PWM of the MCU module to coordinate the group bin to release the energy of the supercapacitor under control;

[0010] Supercapacitors are used to provide intermediate energy storage carriers for unstable cluster confluence;

[0011] The DC-DC switching circuit is connected to the supercapacitor to provide stable output power for charging the system;

[0012] MCU module is used to carry out PID solution dynamic pulse width modulation PWM, adaptive collaborative group warehouse controlled energy release; and real-time monitoring of the intensity gradient {▽E,▽B} information of the electromagnetic field in the air, according to the threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and control the pulse width modulation PWM information of the flight control power motor with negative feedback tendency;

[0013] MOS tube Q of flight control power motor 飞1 ~Q 飞6 The speed of the flight control power motor is controlled by the output of the MCU module.

[0014] Among them, the multi-layer copper-clad energy-harvesting plates use 2 to 4 layers of PCB ceramic plate base, which are evenly and symmetrically distributed along the circumference of the drone with a diameter greater than 1 meter, and harvest energy in the airspace 3m away from the high-voltage transmission lines and 5m away from the towers.

[0015] Preferably, it also includes a rectifier bridge composed of a diode D1, a diode D2, a diode D3 and a diode D4, and the rectifier bridge is connected to the multi-layer copper-clad energy extraction electrode plate.

[0016] Furthermore, the external crystal oscillator circuit of the MCU module is composed of capacitor UC8, capacitor UC9, resistor UY1 and crystal oscillator UY2.

[0017] Furthermore, a resistor UR6, a capacitor UC1 and a normally open switch USW1 constitute a restart circuit of the MCU module.

[0018] Based on the same inventive concept, the present invention discloses an energy collection and charging method for an energy collection and charging system of an unmanned aerial vehicle high-voltage transmission line, comprising the following steps:

[0019] (1) Through the multi-layer copper-clad energy-collecting plates, the high-voltage electric field induced electromotive force E and displacement current I are wirelessly picked up from the airspace electric field near the high-voltage transmission line. n (t);

[0020] (2) Through the shingled capacitor array, the single-cell voltage division is used to store electricity, the group of cells collects current to discharge energy, and each cell releases electricity to the supercapacitor, converting the high-voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t), enhance the induced current intensity of available electric energy in airspace;

[0021] (3) The MCU module performs PID calculation, adaptively coordinates the group of warehouses to release energy in a controlled manner, and dynamically modulates the pulse width modulation (PWM) to drive the group of warehouses to release energy and power supply modules, adapting to changes in charging load and peak current to maintain the energy storage current I 超级 (t) Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors;

[0022] (4) Through the wide-input DC-DC switching circuit, the electric energy in the supercapacitor is converted into a stable voltage power supply to provide stable output power for system charging;

[0023] (5) Real-time monitoring of the intensity gradient of the electromagnetic field in the air through MCU Information, by threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and negatively feedback the pulse width modulation PWM information of the flight control power motor.

[0024] Wherein, step (1) specifically comprises the following steps:

[0025] Based on the theoretical characteristics of electromagnetic field displacement current, the high-voltage electric field induced electromotive force E is picked up from the airspace electric field near the high-voltage transmission line. The high-voltage electric field induced displacement current I can be obtained according to formula (1): n (t);

[0026]

[0027] In the formula, I n (t) is the displacement current induced by the high voltage electric field, is the electromotive force intensity of the electric field, ε0 is the dielectric constant of vacuum, ε r is the relative dielectric constant of PCB ceramic, r is the radius of the circular plate, and t is the effective thickness of the plate.

[0028] Preferably, the shingled capacitor array in step (2) is constructed according to the following steps:

[0029] (2.1) are respectively connected into n single-bin energy extraction components, the number of film capacitors in the n single bins is 1, 2, 3, ..., n, and they are connected in sequence to form an n-order capacitor group bin array with a shingled structure:

[0030]

[0031] Where n is determined according to formula (2);

[0032]

[0033] Where n is the number of layers of the shingled capacitor array, E is the induced electromotive force of the high voltage electric field, E* is the withstand voltage of the film capacitor, and ω is the withstand voltage margin coefficient, which is 3 to 5;

[0034] (2.2) n single bins {C1}, {C2-1, C2-2}, …, {CN-1, CN-2, …, CN-N}, are induced by the high voltage electric field with displacement current I n (t) is driven to realize that each single compartment picks up electric energy according to the voltage division formula (3);

[0035]

[0036] Where U i (t) is the energy storage voltage of the i-th group of single-compartment energy extraction components, is the equivalent capacitance of the i-th group of single-compartment energy extraction components, I n (t) is the displacement current induced by the high-voltage electric field, and t is the energy storage working time of the i-th group of single-compartment energy extraction components;

[0037] (2.3) For an n-order capacitor group array, when the energy-taking component U i (t) Achieve the given U 阈值 When , switch Si-1 and switch Si-2 are synchronously operated, and the group-bin confluence discharge and energy release operation is switched to establish a model of {C1}→{C2-1, C2-2}→{C3-1, C3-2, C3-2}→…→{CN-1, CN-2,…, CN-N} releasing electric energy to the supercapacitor one by one, providing a lower working voltage for subsequent circuit operation, and establishing the coupled superposition confluence of the group-bin array parallel energy release according to formula (4): The high voltage electric field induced displacement current I n (t) is enhanced to energy storage current I超级 (t);

[0038]

[0039] In the formula, I 超级 (t) is the energy storage current of the supercapacitor, U 阈值 is the threshold voltage for releasing electric energy from a single compartment, I i (t) is the energy release current of the capacitor in the i-th group, is the equivalent capacitance of a single compartment of the i-th group of capacitors, is the overall equivalent capacitance of the shingled capacitor array, R 总 is the working resistance of the shingled capacitor array, t is the energy storage working time of the single-bin capacitor of the i-th group;

[0040] (2.4) The energy loss of the shingled capacitor array in terms of power intake and energy release is minimized. According to the constraint condition of formula (5), the overall equivalent capacitance of the shingled capacitor array is determined.

[0041]

[0042] In the formula, ΔE| min Energy consumption for drawing power and releasing energy for shingled capacitor arrays;

[0043] (2.5) Considering the current stability of power supply and energy release, determine the equivalent capacitance value of the i-th group of single compartments Pick Constructing shingled capacitor arrays.

[0044] Furthermore, in step (3), the specific steps of the MCU module adaptively controlling the coordinated charging and discharging of the shingled capacitor array are as follows:

[0045] (3.1) The MCU module monitors the voltage increase of a single cell after energy is taken out in real time;

[0046] (3.2) If the voltage of a single cell reaches the threshold voltage U 阈值 , join the order sequence of the group warehouse releasing electric energy;

[0047] (3.3) The energy storage current I of the supercapacitor 超级 (t) volatility is the target, and PID solution is performed according to formula (6). The coordinated group warehouse is subject to the constraint condition η of controlled energy release. MOSFET ,

[0048]

[0049] In the formula, I 超级 (t) is the energy storage current of the supercapacitor, which is also the PID target charging current of the supercapacitor, e(t) is the PID error, K pis the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET is the overcurrent control efficiency of MOS tubes Q1~QN, is the discharge current of the n-order group bin;

[0050] (3.4) Dynamic pulse width modulation (PWM) drives the MOS tube array {Q1, Q2, ..., QN} of the group warehouse energy release power supply module to adapt to the changes in charging load and peak current and maintain the charging current I 超级 Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors.

[0051] Further, step (5) specifically includes the following steps:

[0052] (5.1) Real-time monitoring of the electrical measurement information of the high-voltage electric field induced electromotive force E and magnetic field strength B;

[0053] (5.2) Calculate the field intensity gradient in the monitoring airspace according to formula (7)

[0054]

[0055] In the formula, is the airspace electric field and electromagnetic field intensity gradient near the transmission line, (x, y, z) is the airspace position, is the gradient of electric field and electromagnetic field intensity along the coordinate axis;

[0056] (5.3) According to formula (8), the spatial field gradient is established The identification warning response model of the perturbation of the air position {Δx, Δy, Δz},

[0057]

[0058] Where Γ{E,B}|(Δx,Δy,Δz) is the electric and magnetic field strength at the spatial location {Δx,Δy,Δz} near the transmission line. is the spatial field gradient, {δ * ,ε *} is the airspace field gradient threshold of the safe distance near the transmission line;

[0059] (5.4) Based on the spatial electromagnetic field gradient With the threshold fluctuation as the target, PID solution is performed according to formula (9), the duty cycle information of the pulse width modulation PWM circuit is dynamically adaptively controlled, and the MOS tube Q of the flight control power motor is driven 飞1 ~Q 飞6 , providing coordinated current for the flight control drive power motor,

[0060]

[0061] In the formula, is the PID target field intensity gradient of the adjacent transmission line, e(t) is the PID error, K p is the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET | 飞控 Q for MOS tube 飞1 ~Q 飞6 Overcurrent control efficiency, I x,y,z (t) is the current of the flight control power motor;

[0062] (5.5) If or If any of the conditions is met, warning information is generated, safety distance information of nearby high-voltage transmission lines is identified, and pulse width modulation (PWM) information of flight control power motor control with negative feedback tendency is generated.

[0063] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention can ensure that high-voltage transmission line inspection drones can carry out field inspection line operations and continuous monitoring for a long time, and realize wireless adaptive energy acquisition and charging in the air while working, without the need to frequently travel back and forth between the drone mother vehicle and the work site, thereby greatly improving the drone's operating efficiency and more reliably carrying out inspection line operations and continuous monitoring; the present invention adopts a wireless energy acquisition and charging method, which is contactless and requires no manual operation throughout the process, and is safe and reliable to operate and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is an operation diagram of a high-voltage transmission line inspection drone of the present invention;

[0065] Figure 2 This is a schematic diagram of wireless charging of a high-voltage power transmission line inspection drone in the present invention;

[0066] Figure 3 This is a structural diagram of the wireless charging function of the high-voltage power transmission line inspection drone of the present invention;

[0067] Figure 4 The working principle diagram of the shingled capacitor array in the present invention;

[0068] Figure 5 This is a working principle diagram of the MCU module in the present invention;

[0069] Figure 6 This is a workflow diagram of the MCU module safety distance warning in the present invention;

[0070] Figure 7 It is a schematic diagram of the DC-DC switching circuit in the present invention. DETAILED DESCRIPTION

[0071] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0072] Embodiment 1: This embodiment discloses an energy collection and charging system for a drone near an airborne high-voltage transmission line, comprising: a multi-layer copper-clad energy collection electrode plate for wirelessly picking up the high-voltage electric field induced electromotive force E and displacement current I from the airspace electric field near the high-voltage transmission line. n (t); Multi-layer copper-clad energy-collecting plate, using 2 to 4 layers of PCB ceramic substrate, plate thickness 0.11mm, copper thickness 0.070mm, plate diameter 10cm, uniformly and symmetrically distributed along the circumference of the drone with a diameter greater than 1 meter, energy is collected in the airspace 3m away from the high-voltage transmission line and 5m away from the tower, such as Figure 1 and Figure 2 As shown;

[0073] A rectifier bridge composed of diode D1, diode D2, diode D3 and diode D4;

[0074] The shingled capacitor array is composed of capacitors {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} connected in parallel to form n single cells, and connected in series to controllable switches {S1-1, S1-2}, {S2-1, S2-2}, ..., {SN-1, SN-2} in sequence to form a group cell energy array; it is used to carry out single cell voltage division power storage, group cell current collection discharge release energy, and release electricity to the super capacitor one by one, so as to convert the high voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t), enhance the induced current intensity of available electric energy in airspace;

[0075] like Figure 3 As shown, the group storage energy release power supply module is composed of controllable MOS tubes {Q1, Q2, ..., QN} and triodes {Q'1, Q'2, ..., Q'N}, wherein the MOS tube {Q1, Q2, ..., QN} array receives the dynamic pulse width modulation PWM duty cycle information of the MCU module, cooperates with the group storage to release energy in a controlled manner, adapts to the changes of charging load and peak current, and maintains the energy storage current I 超级 (t) Stable; the transistor array {Q'1, Q'2, ..., Q'N} is connected in parallel with the shingled capacitor array one by one, and as the energy storage voltage of any single cell {Ci-1, Ci-2, ..., Ci-i} in the capacitor array {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} reaches the threshold voltage U 阈值When , the corresponding transistor {Q'i} is turned on, and the controllable switch {Si-1, Si-2} acts synchronously, so as not to affect the working state of other single warehouses. The single warehouse {Ci-1, Ci-2, ..., Ci-i} is separated from the capacitor series energy array and connected in parallel to the group warehouse to release the electric energy sequence, receiving the dynamic pulse width modulation PWM of the MCU module to coordinate the group warehouse to release the energy of the supercapacitor under control;

[0076] Supercapacitors provide intermediate energy storage carriers for unstable cluster confluence, improving output energy stability;

[0077] The DC-DC switching circuit is connected to the supercapacitor to provide stable output power for system charging;

[0078] MCU module, carry out PID solution dynamic pulse width modulation PWM, adaptive collaborative group warehouse controlled energy release; and real-time monitoring of the intensity gradient of the electromagnetic field in the air Information, by threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and negatively feedback the flight control power motor to control the pulse width modulation PWM information, so as to achieve stable and safe operation of the wireless energy charging device;

[0079] Capacitor UC8, capacitor UC9, resistor UY1 and crystal oscillator UY2 constitute the external crystal oscillator circuit of the MCU module.

[0080] Resistor UR6, capacitor UC1 and normally open switch USW1 form the MCU restart circuit.

[0081] MOS tube Q of flight control power motor 飞1 ~Q 飞6 The flight control power motor speed is controlled by the PWM output of the MCU module pin;

[0082] MOS tubes Q1~QN are controlled by the PWM output of the MCU pin, and adaptively coordinate each single bin to release energy in a controlled manner.

[0083] Embodiment 2: This embodiment discloses a method for charging an energy source of an energy source charging system for an unmanned aerial vehicle near an airborne high-voltage transmission line, comprising the following steps:

[0084] (1) Through the multi-layer copper-clad energy-collecting plates, the high-voltage electric field induced electromotive force E and displacement current I are wirelessly picked up from the airspace electric field near the high-voltage transmission line. n (t);

[0085] Based on the theoretical characteristics of electromagnetic field displacement current, the high-voltage electric field induced electromotive force E is picked up from the airspace electric field near the high-voltage transmission line. The high-voltage electric field induced displacement current I can be obtained according to formula (1): n (t);

[0086]

[0087] In the formula, I n (t) is the displacement current induced by the high voltage electric field, is the electromotive force intensity of the electric field, ε0 is the dielectric constant of vacuum, ε r is the relative dielectric constant of PCB ceramic, r is the radius of the circular plate, and t is the effective thickness of the plate;

[0088] (2) Through the shingled capacitor array, the single-cell voltage division is used to store electricity, the group of cells collects current to discharge energy, and each cell releases electricity to the supercapacitor, converting the high-voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t), enhance the induced current intensity of available electric energy in airspace;

[0089] like Figure 1 , Figure 2 and Figure 3 As shown, the shingled capacitor array is constructed in the following steps:

[0090] (2.1) are respectively connected into n single-bin energy extraction components, the number of film capacitors in the n single bins is 1, 2, 3, ..., n, and they are connected in sequence to form an n-order capacitor group bin array with a shingled structure:

[0091]

[0092] Where n is determined according to formula (2);

[0093]

[0094] Where n is the number of layers of the shingled capacitor array, E is the induced electromotive force of the high voltage electric field, E* is the withstand voltage of the film capacitor, and ω is the withstand voltage margin coefficient, which is 3 to 5;

[0095] (2.2) n single bins {C1}, {C2-1, C2-2}, …, {CN-1, CN-2, …, CN-N}, are induced by the high voltage electric field with displacement current I n (t) is driven to realize that each single compartment picks up electric energy according to the voltage division formula (3);

[0096]

[0097] Where U i (t) is the energy storage voltage of the i-th group of single-compartment energy extraction components, is the equivalent capacitance of the i-th group of single-compartment energy extraction components, I n (t) is the displacement current induced by the high-voltage electric field, and t is the energy storage working time of the i-th group of single-compartment energy extraction components;

[0098] (2.3) n-order capacitor group array, such as Figure 4 As shown, when the energy extraction component U i (t) Achieve the given U 阈值 When , switch Si-1 and switch Si-2 are synchronously operated, and the group-bin confluence discharge and energy release operation is switched to establish a model of {C1}→{C2-1, C2-2}→{C3-1, C3-2, C3-2}→…→{CN-1, CN-2,…, CN-N} releasing electric energy to the supercapacitor one by one, providing a lower working voltage for subsequent circuit operation, and establishing the coupled superposition confluence of the group-bin array parallel energy release according to formula (4): The high voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t);

[0099]

[0100] In the formula, I 超级 (t) is the energy storage current of the supercapacitor, U 阈值 is the threshold voltage for releasing electric energy from a single compartment, I i (t) is the energy release current of the capacitor in the i-th group, is the equivalent capacitance of a single compartment of the i-th group of capacitors, is the overall equivalent capacitance of the shingled capacitor array, R 总 is the working resistance of the shingled capacitor array, t is the energy storage working time of the single-bin capacitor of the i-th group;

[0101] (2.4) The energy loss of the shingled capacitor array in terms of power intake and energy release is minimized. According to the constraint condition of formula (5), the overall equivalent capacitance of the shingled capacitor array is determined.

[0102]

[0103] In the formula, ΔE| min Energy consumption for drawing power and releasing energy for shingled capacitor arrays;

[0104] (2.5) Considering the current stability of power supply and energy release, determine the equivalent capacitance value of the i-th group of single compartments constructing shingled capacitor arrays;

[0105] (3) Figure 5 As shown, the MCU module performs PID calculation, adaptively coordinates the group warehouse to release energy in a controlled manner, and dynamically drives the group warehouse energy release power supply module with pulse width modulation PWM to adapt to the changes in charging load and peak current, and maintain the energy storage current I 超级 (t) Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors;

[0106] The specific steps of the MCU module to adaptively control the coordinated charging and discharging of the shingled capacitor array are as follows:

[0107] (3.1) The MCU module monitors the voltage increase of a single cell after energy is taken out in real time;

[0108] (3.2) If the voltage of a single cell reaches the threshold voltage U 阈值 , join the order sequence of the group warehouse releasing electric energy;

[0109] (3.3) The energy storage current I of the supercapacitor 超级 (t) volatility is the target, and PID solution is performed according to formula (6). The coordinated group warehouse is subject to the constraint condition η of controlled energy release. MOSFET ,

[0110]

[0111] In the formula, I 超级 (t) is the energy storage current of the supercapacitor, which is also the PID target charging current of the supercapacitor, e(t) is the PID error, K p is the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET is the overcurrent control efficiency of MOS tubes Q1~QN, is the discharge current of the n-order group bin;

[0112] (3.4) The dynamic pulse width modulation (PWM) circuit drives the MOS tube array {Q1, Q2, ..., QN} of the group warehouse energy release power supply module to adapt to the changes in charging load and peak current and maintain the charging current I 超级 Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors;

[0113] (4) Through the wide-input DC-DC switching circuit, the electric energy in the supercapacitor is converted into a stable voltage power supply to provide stable output power for system charging; 超级 The voltage is used to establish a 0-180V wide-range DC-DC input voltage source, and output a stable 12V working power or battery charging energy storage;

[0114] like Figure 7 As shown in the figure, the working principle of the DC-DC switching circuit is as follows: the switching power supply controller controls the MOS tube Q11 to turn on and the MOS tube Q22 to turn off, and the electric energy from the super capacitor charges the inductor L11. The inductor current i L(t)Increase energy storage and charge the voltage stabilizing capacitor C22 and the external voltage regulator at the same time; the switching power supply controller controls the MOS tube Q11 to turn off and the MOS tube Q22 to turn on. Since the current of the inductor L11 cannot change suddenly, the inductor L11 releases electric energy to continue charging the voltage stabilizing capacitor C22 and the external voltage regulator. At this time, the inductor current i L(t) The switching power supply controller controls the duty cycle of the MOS tubes Q11 and Q22 to achieve adjustable and stable output voltage Vout.

[0115] (5) Real-time monitoring of the intensity gradient of the electromagnetic field in the air through MCU Information, by threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and negatively feedback the flight control power motor to control the pulse width modulation PWM information, so as to achieve stable and safe operation of the wireless energy charging device;

[0116] like Figure 6 As shown, the identification information of the nearby high-voltage transmission line providing a safety distance warning is determined according to the following steps:

[0117] (5.1) Real-time monitoring of the electrical measurement information of the high-voltage electric field induced electromotive force E and magnetic field strength B;

[0118] (5.2) Calculate the field intensity gradient in the monitoring airspace according to formula (7)

[0119]

[0120] In the formula, is the airspace electric field and electromagnetic field intensity gradient near the transmission line, (x, y, z) is the airspace position, is the gradient of electric field and electromagnetic field intensity along the coordinate axis;

[0121] (5.3) According to formula (8), the spatial field gradient is established The identification warning response model of the perturbation of the air position {Δx, Δy, Δz},

[0122]

[0123] Where Γ{E,B}|(Δx,Δy,Δz) is the electric and magnetic field strength at the spatial location {Δx,Δy,Δz} near the transmission line. is the spatial field gradient, {δ * ,ε *} is the airspace field gradient threshold of the safe distance near the transmission line;

[0124] (5.4) Based on the spatial electromagnetic field gradient With the threshold fluctuation as the target, PID solution is performed according to formula (9), the duty cycle information of the pulse width modulation PWM circuit is dynamically adaptively controlled, and the MOS tube Q of the flight control power motor is driven 飞1 ~Q 飞6 , providing coordinated current for the flight control drive power motor,

[0125]

[0126] In the formula, is the PID target field intensity gradient of the adjacent transmission line, e(t) is the PID error, K p is the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET | 飞控 Q for MOS tube 飞1 ~Q 飞6 Overcurrent control efficiency, I x,y,z (t) is the current of the flight control power motor;

[0127] (5.5) If or If any of the conditions is met, warning information is generated, safety distance information of nearby high-voltage transmission lines is identified, and pulse width modulation (PWM) information of flight control power motor control with negative feedback tendency is generated.

[0128] The present invention provides a system and method for charging an energy source of a UAV near an airborne high-voltage transmission line. The above is only a preferred embodiment of the present invention. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. A power supply and charging system for a drone near an airborne high-voltage transmission line, characterized in that: include: Multi-layer copper-clad energy harvesting plate, used to wirelessly pick up the high-voltage electric field induced electromotive force E and displacement current I from the airspace electric field near the high-voltage transmission line n (t); The shingled capacitor array is composed of capacitors {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} connected in parallel end to end to form n single bins, and connected in series to controllable switches {S1-1, S1-2}, {S2-1, S2-2}, ..., {SN-1, SN-2} in sequence to form a group bin energy extraction array; It is used to carry out single-cell voltage division and energy storage, group-cell current collection and discharge, and release electricity to the supercapacitor one by one, converting the high-voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t); The group storage energy release power supply module is composed of controllable MOS tubes {Q1, Q2, ..., QN} and triodes {Q'1, Q'2, ..., Q'N}. The MOS tube {Q1, Q2, ..., QN} array is used to receive the dynamic pulse width modulation PWM duty cycle information of the MCU module, coordinate the group storage controlled energy release, adapt to the changes of charging load and peak current, and maintain the energy storage current I 超级 (t) Stability; The transistor array {Q'1, Q'2, ..., Q'N} is connected in parallel with the shingled capacitor array one by one, and as the energy storage voltage of any single compartment {Ci-1, Ci-2, ..., Ci-i} in the capacitor array {C1}, {C2-1, C2-2}, ..., {CN-1, CN-2, ..., CN-N} reaches the threshold voltage U 阈值 When , the corresponding transistor {Q'i} is turned on, the controllable switch {Si-1, Si-2} is synchronously actuated, and the single bin {Ci-1, Ci-2, ..., Ci-i} is separated from the capacitor series energy array and connected in parallel to the group bin to release the electric energy sequence, receiving the dynamic pulse width modulation PWM of the MCU module to coordinate the group bin to release the energy of the supercapacitor under control; Supercapacitors are used to provide intermediate energy storage carriers for unstable cluster confluence; The DC-DC switching circuit is connected to the supercapacitor to provide stable output power for charging the system; MCU module is used to carry out PID solution dynamic pulse width modulation PWM, adaptive collaborative group warehouse controlled energy release; and real-time monitoring of the intensity gradient {▽E,▽B} information of the electromagnetic field in the air, according to the threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and control the pulse width modulation PWM information of the flight control power motor with negative feedback tendency; MOS tube Q of flight control power motor 飞1 ~Q 飞6 The speed of the flight control power motor is controlled by the output of the MCU module.

2. The energy collection and charging system for a drone high-voltage power transmission line according to claim 1 is characterized in that: The multi-layer copper-clad energy-harvesting electrode plate adopts a 2-4-layer PCB ceramic plate base, which is evenly and symmetrically distributed with a diameter greater than 1 meter along the circumference of the UAV, and obtains energy in the airspace 3m away from the high-voltage transmission line and 5m away from the tower.

3. The energy collection and charging system for a drone high-voltage power transmission line in the air according to claim 1 is characterized in that: It also includes a rectifier bridge composed of a diode D1, a diode D2, a diode D3 and a diode D4, and the rectifier bridge is connected to the multi-layer copper-clad energy-taking electrode plate.

4. The energy collection and charging system for a drone high-voltage power transmission line according to claim 1 is characterized in that: The external crystal oscillator circuit of the MCU module is also composed of capacitor UC8, capacitor UC9, resistor UY1 and crystal oscillator UY2.

5. The energy collection and charging system for a drone high-voltage power transmission line in the air according to claim 1 is characterized in that: The restart circuit of the MCU module is also composed of a resistor UR6, a capacitor UC1 and a normally open switch USW1.

6. A method for charging an energy source for an energy source charging system for an unmanned aerial vehicle high-voltage power transmission line according to any one of claims 1 to 5, characterized in that: The steps include: (1) Through the multi-layer copper-clad energy-collecting plates, the high-voltage electric field induced electromotive force E and displacement current I are wirelessly picked up from the airspace electric field near the high-voltage transmission line. n (t); (2) Through the shingled capacitor array, the single-cell voltage division is used to store electricity, the group of cells collects current to discharge energy, and each cell releases electricity to the supercapacitor, converting the high-voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t), enhance the induced current intensity of available electric energy in airspace; (3) The MCU module performs PID calculation, adaptively coordinates the group of warehouses to release energy in a controlled manner, and dynamically modulates the pulse width modulation (PWM) to drive the group of warehouses to release energy and power supply modules, adapting to changes in charging load and peak current to maintain the energy storage current I 超级 (t) Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors; (4) Through the wide-input DC-DC switching circuit, the electric energy in the supercapacitor is converted into a stable voltage power supply to provide stable output power for system charging; (5) Real-time monitoring of the intensity gradient of the electromagnetic field in the air through MCU Information, by threshold {δ * ,ε * Generate early warning information, identify the safe distance information of nearby high-voltage transmission lines, and negatively feedback the pulse width modulation PWM information of the flight control power motor.

7. The energy collection and charging method of the energy collection and charging system of the high-voltage power transmission line of the unmanned aerial vehicle according to claim 6 is characterized in that: The step (1) specifically comprises the following steps: Based on the theoretical characteristics of electromagnetic field displacement current, the high-voltage electric field induced electromotive force E is picked up from the airspace electric field near the high-voltage transmission line. The high-voltage electric field induced displacement current I can be obtained according to formula (1): n (t); In the formula, I n (t) is the displacement current induced by the high voltage electric field, is the electromotive force intensity of the electric field, ε0 is the dielectric constant of vacuum, ε r is the relative dielectric constant of PCB ceramic, r is the radius of the circular plate, and t is the effective thickness of the plate.

8. The energy collection and charging method of the energy collection and charging system of the high-voltage transmission line of the unmanned aerial vehicle according to claim 7 is characterized in that: The shingled capacitor array in step (2) is constructed according to the following steps: (2.1) are respectively connected into n single-bin energy extraction components, the number of film capacitors in the n single bins is 1, 2, 3, ..., n, and they are connected in sequence to form an n-order capacitor group bin array with a shingled structure: Where n is determined according to formula (2); Where n is the number of layers of the shingled capacitor array, E is the induced electromotive force of the high voltage electric field, E* is the withstand voltage of the film capacitor, and ω is the withstand voltage margin coefficient, which is 3 to 5; (2.2) n single bins {C1}, {C2-1, C2-2}, …, {CN-1, CN-2, …, CN-N}, are induced by the high voltage electric field with displacement current I n (t) is driven to realize that each single compartment picks up electric energy according to the voltage division formula (3); Where U i (t) is the energy storage voltage of the i-th group of single-compartment energy extraction components, is the equivalent capacitance of the i-th group of single-compartment energy extraction components, I n (t) is the displacement current induced by the high-voltage electric field, and t is the energy storage working time of the i-th group of single-compartment energy extraction components; (2.3) For an n-order capacitor group array, when the energy-taking component U i (t) Achieve the given U 阈值 When , switch Si-1 and switch Si-2 are synchronously operated, and the group-bin confluence discharge and energy release operation is switched to establish a model of {C1}→{C2-1, C2-2}→{C3-1, C3-2, C3-2}→…→{CN-1, CN-2,…, CN-N} releasing electric energy to the supercapacitor one by one, providing a lower working voltage for subsequent circuit operation, and establishing the coupled superposition confluence of the group-bin array parallel energy release according to formula (4): The high voltage electric field induced displacement current I n (t) is enhanced to energy storage current I 超级 (t); In the formula, I 超级 (t) is the energy storage current of the supercapacitor, U 阈值 is the threshold voltage for releasing electric energy from a single compartment, I i (t) is the energy release current of the capacitor in the i-th group, is the equivalent capacitance of a single-bin capacitor in the i-th group, is the overall equivalent capacitance of the shingled capacitor array, R 总 is the working resistance of the shingled capacitor array, t is the energy storage working time of the single-bin capacitor of the i-th group; (2.4) The energy loss of the shingled capacitor array in terms of power intake and energy release is minimized. According to the constraint condition of formula (5), the overall equivalent capacitance of the shingled capacitor array is determined. In the formula, ΔE| min Energy consumption for drawing power and releasing energy for shingled capacitor arrays; (2.5) Considering the current stability of power supply and energy release, determine the equivalent capacitance value of the i-th group of single compartments Pick Constructing shingled capacitor arrays.

9. The energy collection and charging method of the energy collection and charging system of the high-voltage power transmission line near the air of a drone according to claim 8 is characterized in that: The specific steps of the MCU module in step (3) for adaptively controlling the coordinated charging and discharging of the shingled capacitor array are as follows: (3.1) The MCU module monitors the voltage increase of a single cell after energy is taken out in real time; (3.2) If the voltage of a single cell reaches the threshold voltage U 阈值 , join the order sequence of the group warehouse releasing electric energy; (3.3) The energy storage current I of the supercapacitor 超级 (t) volatility is the target, and PID solution is performed according to formula (6). The coordinated group warehouse is subject to the constraint condition η of controlled energy release. MOSFET , In the formula, I 超级 (t) is the energy storage current of the supercapacitor, which is also the PID target charging current of the supercapacitor, e(t) is the PID error, K p is the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET is the overcurrent control efficiency of MOS tubes Q1~QN, is the discharge current of the n-order group bin; (3.4) Dynamic pulse width modulation (PWM) drives the MOS tube array {Q1, Q2, ..., QN} of the group warehouse energy release power supply module to adapt to the changes in charging load and peak current and maintain the charging current I 超级 Stable, providing continuous energy storage trickle and efficient power supply for supercapacitors.

10. The energy collection and charging method of the energy collection and charging system of the high-voltage power transmission line of the unmanned aerial vehicle according to claim 9 is characterized in that: The step (5) specifically comprises the following steps: (5.1) Real-time monitoring of the electrical measurement information of the high-voltage electric field induced electromotive force E and magnetic field strength B; (5.2) Calculate the field intensity gradient in the monitoring airspace according to formula (7) In the formula, is the airspace electric field and electromagnetic field intensity gradient near the transmission line, (x, y, z) is the airspace position, is the gradient of electric field and electromagnetic field intensity along the coordinate axis; (5.3) According to formula (8), the spatial field gradient is established The identification warning response model of the perturbation of the air position {Δx, Δy, Δz}, Where Γ{E,B}|(Δx,Δy,Δz) is the electric and magnetic field strength at the spatial location {Δx,Δy,Δz} near the transmission line. is the spatial field gradient, {δ * ,ε * } is the airspace field gradient threshold of the safe distance near the transmission line; (5.4) Based on the spatial electromagnetic field gradient With the threshold fluctuation as the target, PID solution is performed according to formula (9), the duty cycle information of the pulse width modulation PWM circuit is dynamically adaptively controlled, and the MOS tube Q of the flight control power motor is driven 飞1 ~Q 飞6 , providing coordinated current for the flight control drive power motor, In the formula, is the PID target field intensity gradient of the adjacent transmission line, e(t) is the PID error, K p is the PID proportional gain, K i is the PID integral gain, K d is the PID differential gain, η MOSFET | 飞控 Q for MOS tube 飞1 ~Q 飞6 Overcurrent control efficiency, I x,y,z (t) is the flight control power motor current; (5.5) If or If any of the conditions is met, warning information is generated, safety distance information of nearby high-voltage transmission lines is identified, and pulse width modulation (PWM) information of flight control power motor control with negative feedback tendency is generated.

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